US11419442B1 - Tray assembly - Google Patents

Tray assembly Download PDF

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Publication number
US11419442B1
US11419442B1 US17/206,516 US202117206516A US11419442B1 US 11419442 B1 US11419442 B1 US 11419442B1 US 202117206516 A US202117206516 A US 202117206516A US 11419442 B1 US11419442 B1 US 11419442B1
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United States
Prior art keywords
tray
assembly
pad assembly
elastic member
pad
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active, expires
Application number
US17/206,516
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English (en)
Inventor
Gino Nguegang
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bear Robotics Inc
Original Assignee
Bear Robotics Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bear Robotics Inc filed Critical Bear Robotics Inc
Priority to US17/206,516 priority Critical patent/US11419442B1/en
Assigned to BEAR ROBOTICS, INC. reassignment BEAR ROBOTICS, INC. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: NGUEGANG, GINO
Priority to KR1020210039267A priority patent/KR102463513B1/ko
Priority to JP2021182076A priority patent/JP7175368B2/ja
Application granted granted Critical
Publication of US11419442B1 publication Critical patent/US11419442B1/en
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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47G—HOUSEHOLD OR TABLE EQUIPMENT
    • A47G23/00—Other table equipment
    • A47G23/08—Food-conveying devices for tables; Movable or rotary food-serving devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0045—Manipulators used in the food industry
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47F—SPECIAL FURNITURE, FITTINGS, OR ACCESSORIES FOR SHOPS, STOREHOUSES, BARS, RESTAURANTS OR THE LIKE; PAYING COUNTERS
    • A47F10/00—Furniture or installations specially adapted to particular types of service systems, not otherwise provided for
    • A47F10/06—Furniture or installations specially adapted to particular types of service systems, not otherwise provided for for restaurant service systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008—Balancing devices
    • B25J19/0016—Balancing devices using springs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics

Definitions

  • the present disclosure relates to a tray assembly, more particularly, to a tray assembly which can be used in a robot for serving foods and/or beverages while being mounted to the robot.
  • the service robots have been applied in various fields of daily life.
  • an autonomous driving serving robot that carries foods ordered by a customer to a table of the customer in a restaurant or the like is known.
  • the serving robot has the advantage of maximizing the operational efficiency of the restaurant and improving the quality of customer services, and thus is getting a lot of attention in recent years.
  • FIG. 1 exemplarily shows illustrating a robot for serving of foods and/or beverages.
  • a robot 10 includes a drive part 11 for movement of the robot 10 and a main body 12 mounted on an upper end of the drive part 11 .
  • the main body 12 may be equipped with a device which enables a user to input commands or a device capable of receiving the user's commands through a wireless communication. Based on the commands inputted by the user, the robot autonomously travels to serve foods and/or beverages or move dishes after a meal.
  • a tray may be placed on the upper surface of the main body 12 to serve the foods and/or beverages, or move the dishes.
  • impact may be applied to the tray placed on the upper surface of the main body 12 and vibration may be transmitted to the tray.
  • This situation may cause a problem that, if the tray is not stably mounted to the main body 12 , the tray may be separated from the robot 10 and thus the foods and/or the beverages, or the dishes on the tray may drop down. In addition, even if the tray is stably mounted to the main body 12 , the impact or vibration applied to the tray may be directly transmitted to the foods and/or the beverages, or the dishes, which may cause a problem that the foods and/or the beverages are spilled due to the vibration or the like.
  • One object of the present disclosure is to provide a tray assembly which can be used in a robot for serving foods and/or beverages while being stably mounted to the robot.
  • Another object of the present disclosure is to provide a tray assembly which is capable of supporting serving for foods and/or beverages in a more stable manner by absorbing for impact or vibration that may be transmitted to a tray with movement of a robot.
  • Yet another object of the present disclosure is to provide a tray assembly which can be easily separated from a robot for maintenance.
  • a tray assembly comprising: a first tray configured to be fixedly mounted to a robot; a second tray provided above the first tray and configured to be rotatably coupled to the first tray; and at least one pad assembly disposed between the first tray and the second tray.
  • Each of the at least one pad assembly comprises at least one rolling member provided in a direction toward the first tray and an elastic member having at least one end fixedly connected to an interior of the at least one pad assembly.
  • the at least one pad assembly is coupled to the second tray and is mounted to be rotatable relative to the first tray. When the second tray is rotated relative to the first tray, the second tray is configured to be returned to its original position by virtue of a restoring force of an elastic member of the pad assembly.
  • the second tray may comprise at least one connection member provided on a lower surface of the second tray, which faces the first tray, and at least one connection hole may be formed at a position corresponding to the at least one connection member in the first tray, and the at least one connection member may be configured to be inserted into the at least one connection hole when the first tray and the second tray are coupled to each other.
  • the first tray may comprise at least one elastic member mounting portion formed on an upper surface of the first tray, which faces the at least one pad assembly, to protrude toward the at least one pad assembly, and the elastic member of the at least one pad assembly may be mounted to an elastic member mounting portion of the first tray.
  • the at least one pad assembly may be configured to be rotated together with the rotation of the second tray so that the restoring force is generated by the elastic member.
  • the elastic member of the at least one pad assembly may comprise a plurality of tension springs, and the plurality of tension springs may be mounted to the at least one elastic member mounting portion of the first tray to enclose the at least one elastic member mounting portion.
  • the second tray may comprise at least one connection member provided at a position corresponding to the at least one elastic member mounting portion of the first tray on a lower surface of the second tray, which faces the first tray.
  • At least one connection hole may be formed in the at least one elastic member mounting portion of the first tray.
  • the at least one pad assembly may further comprise an elastic member fixing pin provided on an inner side surface of the at least one pad assembly, and at least one end of the elastic member may be fixedly connected to the elastic member fixing pin.
  • At least one slot may be formed on a side surface of the first tray
  • the second tray may comprise a coupling member provided at a position corresponding to the at least one slot on a side surface of the second tray.
  • the at least one slot of the first tray may be formed to be elongated along a circumferential direction of the first tray such that the coupling member of the second tray is inserted into the at least one slot of the first tray and is configured to be rotatable along the circumferential direction of the first tray.
  • the at least one rolling member may comprise a plurality of rolling members provided in each of the at least one pad assembly along a circumferential direction.
  • the at least one rolling member may be configured to be rollable in contact with an upper surface of the first tray facing the at least one pad assembly.
  • the at least one pad assembly may further comprise at least one damping member.
  • the at least one damping member may comprise a plurality of damping members provided in each of the at least one pad assembly along a circumferential direction.
  • the at least one pad assembly may comprise two or more pad assemblies, and the two or more pad assemblies may be arranged on the first tray in a rotational symmetry relationship around a center of the first tray.
  • the at least one pad assembly may comprise three pad assemblies.
  • a tray assembly by fixedly mounting a tray assembly to a robot, it is possible to implement a stable serving for foods and/or beverages.
  • FIG. 1 exemplarily shows illustrating a robot for serving foods and/or beverages.
  • FIG. 2 shows a tray assembly according to one embodiment of the present disclosure.
  • FIG. 3 is an exploded view of a first tray and a second tray in the tray assembly according to one embodiment of the present disclosure, when obliquely viewed from above.
  • FIG. 4 shows the first tray of the tray assembly according to one embodiment of the present disclosure.
  • FIG. 5 shows the second tray of the tray assembly according to one embodiment of the present disclosure.
  • FIG. 6 is a view of a pad assembly of the tray assembly according to one embodiment of the present disclosure, when obliquely viewed from above.
  • FIG. 7 is a view of the pad assembly of the tray assembly according to one embodiment of the present disclosure, when obliquely viewed from below.
  • FIG. 8 is shows a tray assembly according to another embodiment of the present disclosure.
  • FIG. 2 shows a tray assembly according to one embodiment of the present disclosure.
  • FIG. 3 is an exploded view of a first tray and a second tray in the tray assembly according to one embodiment of the present disclosure, when obliquely viewed from above.
  • a tray assembly 100 includes a first tray 110 , a second tray 120 , and a pad assembly 130 .
  • the first tray 110 of the tray assembly 100 is mounted to a robot to perform a function of fixing the tray assembly 100 to the robot. Further, the first tray 110 may be configured to have a lower surface that faces the robot and is to be fixedly mounted to the robot.
  • the configuration in which the first tray 110 is mounted to the robot may employ various known coupling methods such as a mechanical coupling, a magnetic force-based coupling, and the like, and thus a description thereof will be omitted herein. Further, the first tray 110 may be detachably mounted to the robot for maintenance.
  • the second tray 120 of the tray assembly 100 performs a function of placing and holding dishes, cups, and the like thereon for serving of foods and/or beverages.
  • the second tray 120 may be coupled to the first tray 110 from above.
  • the second tray 120 may be rotatably coupled to the first tray 110 .
  • the pad assembly 130 of the tray assembly 100 is located between the first tray 110 and the second tray 120 , and performs a function of returning the second tray 120 to its original position when the second tray 120 is rotated relative to the first tray 110 , and attenuating vibration or the like which may be generated during the returning.
  • three pad assemblies 130 may be provided in three locations in a rotational symmetry relationship around the center of the first tray 110 on the upper surface of the first tray 110 .
  • the number of pad assemblies 130 may vary depending on the size or rotational range of the tray assembly 100 , the load of foods and/or beverages to be carried by the tray assembly 100 , or the like.
  • FIG. 4 shows the first tray of the tray assembly according to one embodiment of the present disclosure.
  • FIG. 5 shows the second tray of the tray assembly according to one embodiment of the present disclosure.
  • FIGS. 6 and 7 are exploded views of the pad assembly of the tray assembly according to one embodiment of the present disclosure, when obliquely viewed from above and below, respectively.
  • At least one slot 111 may be formed on a side surface of the first tray 110 according to one embodiment of the present disclosure.
  • a coupling member 121 may be provided at a position corresponding to the at least one slot 111 of the first tray 110 on a side surface of the second tray 120 . Accordingly, the coupling member 121 of the second tray 120 is inserted into the at least one slot 111 of the first tray 110 such that the first tray 110 and the second tray 120 can be coupled to each other.
  • the at least one slot 111 formed in the side surface of the first tray 110 may be formed to be elongated along a circumferential direction of the first tray 110 .
  • the coupling member 121 of the second tray 120 may be screws that can be inserted into the slot 111 .
  • the coupling member 121 is movable along the circumferential direction of the first tray 110 in a state in which the coupling member 121 is inserted into the slot 111 .
  • the second tray 120 can rotate relative to the first tray 110 . Further, this configuration makes it possible to secure a stable coupling between the first tray 110 and the second tray 120 by preventing the second tray 120 from being separated from the first tray 110 when the tray assembly 100 is lifted up.
  • three slots 111 may be formed along the circumferential direction of the first tray 110 , and three coupling members 121 may be provided on the second tray 120 to correspond to the three slots 111 .
  • the number of slots 111 and the number of coupling members 121 are not limited thereto but may be set to various numbers such as one, two, or four or more.
  • the first tray 110 may include an elastic member mounting portion 113 formed on the upper surface of the first tray 110 , which faces the second tray 120 and the pad assembly 130 , to protrude toward the second tray 120 and the pad assembly 130 .
  • the elastic member mounting portion 113 of the first tray 110 are provided to mount an elastic member 133 of the pad assembly 130 (to be described later) thereon.
  • the number and position of the elastic member mounting portion 113 corresponds to the number and position of the pad assembly 130 .
  • three elastic member mounting portions 113 may be formed on the upper surface of the first tray 110 in a rotational symmetry relationship around the center of the first tray 110 .
  • the second tray 120 may include a connection member 122 provided on a lower surface of the second tray 120 , which faces the first tray 110 and the pad assembly 130 , to protrude toward the first tray 110 and the pad assembly 130 . Further, a connection hole 112 may be formed at a position corresponding to the connection member 122 of the second tray 120 in the first tray 110 . The connection member 122 may be inserted into the connection hole 112 when the first tray 110 and the second tray 120 are coupled to each other.
  • connection hole 112 of the first tray 110 may be formed in the center of the elastic member mounting portion 113 , and the connection member 122 of the second tray 120 may penetrate through the pad assembly 130 and be inserted into the connection hole 112 of the first tray 110 .
  • the first tray 110 and the second tray 120 can be coupled to each other with the pad assembly 130 interposed therebetween, and the pad assembly 130 can also be stably located between the first tray 110 and the second tray 120 .
  • the pad assembly 130 of the tray assembly 100 may include a rolling member 131 , an elastic member fixing pin 132 , an elastic member 133 , a damping member 134 and a housing 135 .
  • the pad assembly 130 is configured such that the rolling member 131 , the elastic member fixing pin 132 , the elastic member 133 , and the damping member 134 are mounted to the housing 135 having a substantially ring shape.
  • a lower portion of the housing 135 which faces the first tray 110 , is opened.
  • a support member may be provided at an upper portion of the housing 135 , which faces the second tray 120 , to close the upper portion of the housing 135 .
  • connection member 122 of the second tray 120 may penetrate through the pad assembly 130 and be inserted into the connection hole 112 of the first tray 110 .
  • a hole is formed in the center of the support member provided at the upper portion of the housing 135 of the pad assembly 130 .
  • the connection member 122 of the second tray 120 may pass through the hole of the support member of the upper portion of the housing 135 and be inserted into the connection hole 112 of the first tray 110 .
  • the hole formed in the support member of the upper portion of the housing 135 of the pad assembly 130 has a diameter corresponding to that of the connection member 122 of the second tray 120 so that the second tray 120 and the pad assembly 130 can be tightly coupled to each other.
  • the rolling member 131 of the pad assembly 130 performs a function of allowing the pad assembly 130 to rotate together with the second tray 120 when the second tray 120 is rotated relative to the first tray 110 , thereby facilitate the rotation of the second tray 120 .
  • the rolling member 131 may be provided along the periphery of the pad assembly 130 in a direction toward the upper surface of the first tray 110 such that the rolling member 131 is rollable in contact with the upper surface of the first tray 110 in the state in which the first tray 110 and the second tray 120 are coupled to each other.
  • the rolling member 131 may include a ball housing and a ball provided to be rollable inside the ball housing, so that the ball is rollable in contact with the upper surface of the first tray 110 .
  • the rolling member 131 may include the ball alone without the ball housing additionally provided, and a known rollable member such as a roller.
  • the rolling member 131 of the pad assembly 130 may include six rolling members provided at regular intervals along the periphery of the housing 135 of the pad assembly 130 . The number of rolling members 131 may vary depending on the size of the pad assembly 130 , the rotational range of the tray assembly 100 , and the like.
  • the elastic member 133 of the pad assembly 130 performs a function of applying a restoring force to the second tray 120 when the second tray 120 is rotated relative to the first tray 110 such that the second tray 120 can be returned to its original position.
  • At least one end of the elastic member 133 of the pad assembly 130 may be fixedly connected to the pad assembly 130 .
  • an elastic member fixing pin 132 may be provided inside the housing 135 of the pad assembly 130 , and the at least one end of the elastic member 133 may be fixedly connected to the elastic member fixing pin 132 .
  • the elastic member 133 may include a plurality of springs.
  • the elastic member 133 may include six tension springs. One end of each of the six tension springs is mounted to the elastic member fixing pin 132 , and the other end thereof is disposed toward the central portion of the pad assembly 130 . In this case, the other ends of adjacent tension springs are connected to each other.
  • three elastic member fixing pins 132 may be provided, and a set of two tension springs are simultaneously mounted to one elastic member fixing pin. Accordingly, as illustrated in the figures, the six tension springs may be connected to each another with a space interposed therebetween.
  • the elastic member mounting portion 113 of the first tray 110 described above is positioned in the central portion of the tension springs, that is, the space formed by the six tension springs, so that the central portion in which the six tension springs are connected to each another can be mounted on the first tray 110 .
  • the center portion of the six tension springs of each pad assembly 130 may be positioned to enclose the elastic member mounting portion 113 of the first tray 110 . That is, the central portion of the elastic member 133 of the pad assembly 130 may be fixed relative to the first tray 110 by the elastic member mounting portion 113 . Accordingly, when the second tray 120 is rotated relative to the first tray 110 , the pad assembly 130 is also rotated and the end portion side of the elastic member 133 mounted to the elastic member fixing pin 132 is caused to rotate. This generates the restoring force of the elastic member 133 , thus enabling the second tray 120 to return to its original position.
  • the elastic member 133 is composed of the six tension springs
  • the elastic member may be embodied in other forms.
  • the elastic member may be embodied with a single torsion spring.
  • both end portions of the single torsion spring may be connected to the elastic member mounting pin, and a central coil of the single torsion spring may be attached to the elastic member mounting portion.
  • the number, arrangement, elastic modulus, and the like of the elastic members 133 may vary depending on the load of foods and/or beverages that are carried by the tray assembly 100 , the expected motion of the robot, and the like.
  • the damping member 134 of the pad assembly 130 may be provided in the housing 135 of the pad assembly 130 and serve to absorb and attenuate vibration caused by the rotation of the second tray 120 and the pad assembly 130 when the second tray 120 is rotated relative to the first tray 110 and when the second tray 120 is returned to its original position, and to stop the rotation.
  • the damping member 134 may be provided at such a position as not to hinder the rotation of the second tray 120 and the pad assembly 130 , that is, a position as not to interfere with the rolling member 131 and the elastic member 133 of the pad assembly 130 .
  • a plurality of damping members 134 may be provided along the periphery of the housing 135 of the pad assembly 130 .
  • the number and weight of damping members 125 may vary depending on the load of foods and/or beverages that are carried by the tray assembly 100 , the expected operation of the robot, and the like.
  • the first tray 110 and the second tray 120 are rotatably coupled to each other.
  • the second tray 120 is configured to be returned to its original position after the rotation.
  • the second tray 120 may have other forms.
  • FIG. 8 shows a tray assembly according to another embodiment of the present disclosure.
  • a tray assembly 200 according to another embodiment of the present disclosure includes a first tray 210 , a second tray 220 and a pad assembly as in the above-described embodiment.
  • the tray assembly 200 according to this embodiment differs from the above-described embodiment in that a plurality of grooves 221 are formed in an upper surface of the second tray 220 .
  • the plurality of grooves 221 in each of which the bottom of a cup and/or bottle is received at the time of serving may be formed at regular intervals in the upper surface of the second tray 220 according to this embodiment.
  • Each of the plurality of grooves 221 performs a function of stably fixing the cup and/or the bottle.
  • the shape and size of each groove may vary in consideration of the shape and size of the cup and/or bottle to be used for serving.
  • the plurality of grooves are formed in the upper surface of the second tray.
US17/206,516 2021-03-19 2021-03-19 Tray assembly Active 2041-04-28 US11419442B1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
US17/206,516 US11419442B1 (en) 2021-03-19 2021-03-19 Tray assembly
KR1020210039267A KR102463513B1 (ko) 2021-03-19 2021-03-26 트레이 조립체
JP2021182076A JP7175368B2 (ja) 2021-03-19 2021-11-08 トレイ組立体

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Application Number Priority Date Filing Date Title
US17/206,516 US11419442B1 (en) 2021-03-19 2021-03-19 Tray assembly

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US11419442B1 true US11419442B1 (en) 2022-08-23

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US17/206,516 Active 2041-04-28 US11419442B1 (en) 2021-03-19 2021-03-19 Tray assembly

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US (1) US11419442B1 (ko)
JP (1) JP7175368B2 (ko)
KR (1) KR102463513B1 (ko)

Cited By (3)

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Publication number Priority date Publication date Assignee Title
USD988381S1 (en) * 2021-10-20 2023-06-06 Bear Robotics, Inc. Robot
USD990539S1 (en) * 2021-04-19 2023-06-27 Tata Consultancy Services Limited Robot
USD1003960S1 (en) * 2021-03-03 2023-11-07 Tata Consultancy Services Limited Robot

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US20020179614A1 (en) * 2001-04-21 2002-12-05 Rohlfs Joey L. Disposable sipper cups
US20170232318A1 (en) * 2013-01-07 2017-08-17 Gary P. Topolosky Device for Allowing Small Cups to Temporarily Sit Inside Larger Beer Pong Cups
US20150176318A1 (en) * 2013-12-19 2015-06-25 Craig Gundersen Pan Adapter
US20190009968A1 (en) * 2017-07-07 2019-01-10 Zume, Inc. Container for transport and storage of food products

Cited By (3)

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Publication number Priority date Publication date Assignee Title
USD1003960S1 (en) * 2021-03-03 2023-11-07 Tata Consultancy Services Limited Robot
USD990539S1 (en) * 2021-04-19 2023-06-27 Tata Consultancy Services Limited Robot
USD988381S1 (en) * 2021-10-20 2023-06-06 Bear Robotics, Inc. Robot

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JP7175368B2 (ja) 2022-11-18
KR20220131120A (ko) 2022-09-27
JP2022145459A (ja) 2022-10-04
KR102463513B1 (ko) 2022-11-03

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